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<h1>oa2r</h1><p><span class="helptopic">Convert orientation and approach vectors to rotation matrix</span></p><p>
<strong>R</strong> = <span style="color:red">oa2r</span>(<strong>o</strong>, <strong>a</strong>) is a rotation matrix for the specified orientation and
approach vectors (3x1) formed from 3 vectors such that <strong>R</strong> = [N <strong>o</strong> <strong>a</strong>] and
N = <strong>o</strong> x <strong>a</strong>.

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<h2>Notes</h2>
<ul>
  <li>The submatrix is guaranteed to be orthonormal so long as O and A
are not parallel.</li>
  <li>The vectors O and A are parallel to the Y- and Z-axes of the coordinate
frame.</li>
</ul>
<h2>See also</h2>
<p>
<a href="matlab:doc rpy2r">rpy2r</a>, <a href="matlab:doc eul2r">eul2r</a>, <a href="matlab:doc oa2tr">oa2tr</a></p>
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